/*
 * ins.h
 *
 *  Created on: 2022.2.26
 *      Author: huan
 */

#ifndef SW_CPU0_INS_H_
#define SW_CPU0_INS_H_

typedef struct
{
    float q0;
    float q1;
    float q2;
    float q3;

    float roll;
    float pitch;
    float yaw;
} IMU_st ;
typedef struct
{
    IMU_st*   imuAngle;
    float     (*rMat)[3];   /*旋转矩阵*/

    struct rt_mailbox* mb;
}INS_HandleTypedef;
extern INS_HandleTypedef INS_Handle;

void AttitudeSolution_Task(void* parameter);
#endif /* SW_CPU0_INS_H_ */
